restructuring

F0:F030,F042,F072/3steppersLB/steppers.h

@@ -0,0 +1,71 @@
+/*
+ * This file is part of the 3steppers project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef STEPPERS_H__
+#define STEPPERS_H__
+
+#include <stm32f0.h>
+#include "commonproto.h"
+
+// amount of tries to detect motor stall
+#define NSTALLEDMAX     (5)
+
+// stepper states
+typedef enum{
+    STP_RELAX,      // no moving
+    STP_ACCEL,      // start moving with acceleration
+    STP_MOVE,       // moving with constant speed
+    STP_MVSLOW,     // moving with slowest constant speed (end of moving)
+    STP_DECEL,      // moving with deceleration
+    STP_STALL,      // stalled
+    STP_ERR         // wrong/error state
+} stp_state;
+
+// end-switches reaction
+enum{
+    ESW_IGNORE,     // don't stop @ end-switch
+    ESW_ANYSTOP,    // stop @ esw in any moving direction
+    ESW_STOPMINUS,  // stop only in negative moving
+    ESW_AMOUNT      // number of records
+};
+
+// find zero stages: fast -> 0, slow -> +, slow -> 0
+
+void addmicrostep(uint8_t i);
+void encoders_UPD(uint8_t i);
+
+void init_steppers();
+int32_t encoder_position(uint8_t i);
+int setencpos(uint8_t i, int32_t position);
+
+errcodes getpos(uint8_t i, int32_t *position);
+errcodes getremainsteps(uint8_t i, int32_t *position);
+errcodes motor_absmove(uint8_t i, int32_t abssteps);
+errcodes motor_relmove(uint8_t i, int32_t relsteps);
+errcodes motor_relslow(uint8_t i, int32_t relsteps);
+errcodes motor_goto0(uint8_t i);
+
+uint8_t geteswreact(uint8_t i);
+
+void emstopmotor(uint8_t i);
+void stopmotor(uint8_t i);
+stp_state getmotstate(uint8_t i);
+void process_steppers();
+
+#endif // STEPPERS_H__